Abstract
This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we presented a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot has been able to perform dynamic stepping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.
| Original language | English |
|---|---|
| Pages (from-to) | 361-367 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| Publication status | Published - 1999 Jan 1 |
| Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 1999 May 10 → 1999 May 15 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering